• To understand the state and inputs of a kinematic bicycle model
• To know how to compute control inputs for a desired bicycle model trajectory

In this assignment, you are provided with a kinematic bicycle model describing the differential equations of motion for a given vehicle, as well as its control inputs. You will discretize these equations of motion, and use them to generate trajectories for the vehicle.

Resources and Instructions

There are 2 TODO sections to complete in the given Jupyter notebook:

1. Implement the step() function for the bicycle model according to the given equations of motion.
2. Compute the required control inputs that cause the bicycle model to follow a specified figure 8 trajectory.

Deliverables

HTML output: In the Jupyter Notebook, go to File > Download as > HTML (.html). Submit a ZIP file containing the HTML output and the PDF file.

Run all code blocks before downloading the HTML.

Please follow the naming convention for your zip file: a7_<user_id>.zip .